Electromagnetic Crawler Assembly System

ABSTRACT

A method and apparatus for performing operations on a workpiece. A first frame in a frame system may be held on the workpiece by applying a vacuum to the first frame. A second frame in the frame system may be detached from the workpiece by applying a pressure to the second frame. The second frame may be moved to a location on the workpiece. The second frame may be attached to the workpiece by applying the vacuum to the second frame. An operation may be performed on the workpiece.

BACKGROUND INFORMATION

1. Field

The present disclosure relates generally to manufacturing and, inparticular, to a method and apparatus for attaching parts to each other.Still more particularly, the present disclosure relates to a method andapparatus for attaching parts to each other using a fastening system.

2. Background

In manufacturing structures, different parts may be connected to eachother to form the structures. Aircraft structures, such as the wing andfuselage of an aircraft, may be manufactured by attaching parts to eachother. For example, without limitation, panels may be placed onto ribsto form a fuselage. Panels also may be attached onto spars and ribs toform a wing for the aircraft.

The attachment of these panels and other parts to each other may beperformed by operators or computer-controlled machines. With operators,two operators may be located opposite to each other on a workpiece, suchas a panel and a rib. The operators may install clamping devices to holdthe parts together. Thereafter, a drill may be operated by one of theoperators to create a hole. A rivet or other type of fastener may thenbe installed into the hole.

This type of process may be time consuming and expensive. Largecomputer-controlled machines may be used to drill holes and installfasteners to fasten the parts to each other.

In some cases, however, the shape of the structure and/or the locationof fasteners may prohibit the use of these machines. In these cases,operators may still perform the drilling and fastener installationoperations. As a result, depending on the design of the structure, thetime and expense of installing fasteners may be greater than desired.

Therefore, it would be advantageous to have a method and apparatus thattakes into account one or more of the issues discussed above, as well asother possible issues.

SUMMARY

In one advantageous embodiment, an apparatus may comprise a frame systemand a controller. The frame system may have a first frame and a secondframe in which the frame system may be configured to hold an endeffector that is configured to perform a number of operations. The firstframe and the second frame may be configured for attachment to aworkpiece. The controller may be configured to control attachment of thefirst frame and the second frame to the workpiece by applying a vacuumand a pressure during movement of the frame system.

In another advantageous embodiment, a crawler assembly system maycomprise a frame system, a first number of suction cups, a second numberof suction cups, a controller, an electromagnetic unit, a vacuum andpressure unit, and an end effector. The frame system may be configuredto hold an end effector that is configured to perform a number ofoperations on a workpiece. The frame system may comprise a first frame,a second frame, a first number of legs, a second number of legs, and amovement system. The first frame and the second frame may be configuredto move relative to each other on the workpiece. A first leg in a firstportion of the first number of legs may be configured to rotate about afirst axis in a first direction. A second leg in a second portion of thefirst number of legs may be configured to rotate about the first axis ina second direction. Rotation of the first leg in the first direction andthe second leg in the second direction about the first axis may causerotation of the frame system about a second axis that is substantiallyperpendicular to a surface of the workpiece. The movement system may beconfigured to move the first frame and the second frame relative to eachother. The movement system may be configured to move the first number oflegs and the second number of legs to conform to the surface of theworkpiece while the end effector is performing the number of operationson the workpiece. The first number of suction cups may be connected tothe first frame by the first number of legs. The first number of suctioncups may be configured for attachment to the workpiece. A first portionof the first number of suction cups may be connected to the firstportion of the first number of legs, and a second portion of the firstnumber of suction cups may be connected to the second portion of thefirst number of legs. The second number of suction cups may be connectedto the second frame by the second number of legs. The second number ofsuction cups may be configured for attachment to the workpiece. Thecontroller may be configured to control an application of a vacuum and apressure by the first number of suction cups and the second number ofsuction cups during movement of the frame system. Movement of the firstportion of the first number of legs in the first direction and movementof the second portion of the first number of legs in the seconddirection, while the vacuum is applied to the first portion of the firstnumber of suction cups and to the second portion of the second number ofsuction cups and the pressure is applied to the second number of suctioncups, may cause the frame system to turn on the surface of theworkpiece. The electromagnetic unit may be associated with the firstframe. The electromagnetic unit may be configured to attract a magneticmaterial associated with the workpiece such that the electromagneticunit may hold the first frame on the workpiece. A channel may extendthrough the electromagnetic unit and may be configured to receive an endof the end effector and allow the end of the end effector to reach asurface of the workpiece. The vacuum and pressure unit may be connectedto the first number of suction cups and the second number of suctioncups. The vacuum and pressure unit may be configured to apply at leastone of the vacuum and the pressure to the first number of suction cupsand the second number of suction cups. The end effector may comprise atleast one of a drill unit, a fastener system, a sealant unit, and avision system.

In yet another advantageous embodiment, a method may be provided forperforming operations on a workpiece. A first frame in a frame systemmay be held on the workpiece by applying a vacuum to the first frame. Asecond frame in the frame system may be detached from the workpiece byapplying a pressure to the second frame. The second frame may be movedto a location on the workpiece. The second frame may be attached to theworkpiece by applying the vacuum to the second frame. An operation maybe performed on the workpiece.

In still yet another advantageous embodiment, a method may be providedfor performing operations on a workpiece. A crawler assembly system maybe moved from a first location to a second location. The crawlerassembly system may comprise a frame system, a first number of suctioncups, a second number of suction cups, and a controller. The framesystem may have a first frame and a second frame in which the framesystem may be configured to hold an end effector that may be configuredto perform a number of operations. The first number of suction cups maybe associated with the first frame by a number of legs. The first numberof suction cups may be configured for attachment to the workpiece. Thesecond number of suction cups may be associated with the second frame.The second number of suction cups may be configured for attachment tothe workpiece. The controller may be configured to control anapplication of a vacuum and a pressure by the first number of suctioncups and the second number of suction cups during movement of the framesystem. Moving the crawler assembly system from the first location tothe second location may comprise applying the vacuum to the first numberof suction cups and the pressure to the second number of suction cups,moving the second frame relative to the first frame while the firstnumber of suction cups holds the first frame to the workpiece, applyingthe vacuum to the second number of suction cups after movement of thesecond frame, applying the pressure to the first number of suction cupsafter the vacuum is applied to the second number of suction cups, movingthe first frame relative to the second frame while the second number ofsuction cups holds the second frame to the workpiece, and repeating thesteps of applying the vacuum to the first number of suction cups and thepressure to the second number of suction cups, moving the second framerelative to the first frame while the first number of suction cups holdsthe first frame to the workpiece, applying the vacuum to the secondnumber of suction cups after movement of the second frame, applying thepressure to the first number of suction cups after the vacuum is appliedto the second number of suction cups, and moving the first framerelative to the second frame while the second number of suction cupsholds the second frame to the workpiece until the second location isreached. The vacuum may be applied to a first portion of the firstnumber of suction cups connected to a first portion of the number oflegs and to a second portion of the first number of suction cupsconnected to a second portion of the number of legs. The pressure may beapplied to the second number of suction cups. A first leg in the firstportion of the number of legs may be rotated in a first direction arounda first axis. A second leg in the second portion of the first number oflegs may be rotated in a second direction about the first axis. Rotationof the first leg and the second leg may cause rotation of the framesystem about a second axis that is substantially perpendicular to thesurface of the workpiece. The number of operations may be performed atthe location on the workpiece.

The features, functions, and advantages can be achieved independently invarious embodiments of the present disclosure or may be combined in yetother embodiments in which further details may be seen with reference tothe following description and drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

The novel features believed characteristic of the advantageousembodiments are set forth in the appended claims. The advantageousembodiments, however, as well as a preferred mode of use, furtherobjectives, and advantages thereof, will best be understood by referenceto the following detailed description of an advantageous embodiment ofthe present disclosure when read in conjunction with the accompanyingdrawings, wherein:

FIG. 1 is an illustration of an aircraft manufacturing and servicemethod in accordance with an advantageous embodiment;

FIG. 2 is an illustration of an aircraft in which an advantageousembodiment may be implemented;

FIG. 3 is an illustration of a manufacturing environment in accordancewith an advantageous embodiment;

FIG. 4 is an illustration of a manufacturing environment in accordancewith an advantageous embodiment;

FIG. 5 is an illustration of a crawler assembly system in accordancewith an advantageous embodiment;

FIG. 6 is an illustration of a bottom view of a crawler assemblystructure in accordance with an advantageous embodiment;

FIG. 7 is an illustration of a front view of a crawler assembly systemin accordance with an advantageous embodiment;

FIG. 8 is an illustration of a cross-sectional side view of a portion ofa crawler assembly system in accordance with an advantageous embodiment;

FIG. 9 is an illustration of a cross-sectional side view of a portion ofa crawler assembly system in accordance with an advantageous embodiment;

FIG. 10 is an illustration of a crawler assembly system in accordancewith an advantageous embodiment;

FIG. 11 is an illustration of a back view of a crawler assembly systemplaced on a workpiece in accordance with an advantageous embodiment;

FIG. 12 is an illustration of a crawler assembly system on a workpiecein accordance with an advantageous embodiment;

FIG. 13 is an illustration of a crawler assembly system on a workpiecein accordance with an advantageous embodiment;

FIG. 14 is an illustration of a crawler assembly system on a workpiecein accordance with an advantageous embodiment;

FIG. 15 is an illustration of a crawler assembly system on a workpiecein accordance with an advantageous embodiment;

FIG. 16 is an illustration of a crawler assembly system in accordancewith an advantageous embodiment;

FIG. 17 is an illustration of a flowchart of a process for performingoperations on a workpiece in accordance with an advantageous embodiment;

FIG. 18 is an illustration of a flowchart of a process for moving acrawler assembly system in accordance with an advantageous embodiment;and

FIG. 19 is an illustration of a flowchart of a process for adjusting thelegs of a crawler assembly system in accordance with an advantageousembodiment.

DETAILED DESCRIPTION

Referring more particularly to the drawings, embodiments of thedisclosure may be described in the context of aircraft manufacturing andservice method 100 as shown in FIG. 1 and aircraft 200 as shown in FIG.2. Turning first to FIG. 1, an illustration of an aircraft manufacturingand service method is depicted in accordance with an advantageousembodiment. During pre-production, aircraft manufacturing and servicemethod 100 may include specification and design 102 of aircraft 200 inFIG. 2 and material procurement 104.

During production, component and subassembly manufacturing 106 andsystem integration 108 of aircraft 200 in FIG. 2 takes place.Thereafter, aircraft 200 in FIG. 2 may go through certification anddelivery 110 in order to be placed in service 112. While in service 112by a customer, aircraft 200 in FIG. 2 may be scheduled for routinemaintenance and service 114, which may include modification,reconfiguration, refurbishment, and other maintenance or service.

Each of the processes of aircraft manufacturing and service method 100may be performed or carried out by a system integrator, a third party,and/or an operator.

In these examples, the operator may be a customer. For the purposes ofthis description, a system integrator may include, without limitation,any number of aircraft manufacturers and major-system subcontractors; athird party may include, without limitation, any number of venders,subcontractors, and suppliers; and an operator may be an airline,leasing company, military entity, service organization, and so on.

With reference now to FIG. 2, an illustration of an aircraft is depictedin which an advantageous embodiment may be implemented. In this example,aircraft 200 may be produced by aircraft manufacturing and servicemethod 100 in FIG. 1 and may include airframe 202 with a plurality ofsystems 204 and interior 206. Examples of systems 204 may include one ormore of propulsion system 208, electrical system 210, hydraulic system212, and environmental system 214. Any number of other systems may beincluded. Although an aerospace example is shown, different advantageousembodiments may be applied to other industries, such as the automotiveindustry.

Apparatus and methods embodied herein may be employed during at leastone of the stages of aircraft manufacturing and service method 100 inFIG. 1. As used herein, the phrase “at least one of”, when used with alist of items, means that different combinations of one or more of thelisted items may be used and only one of each item in the list may beneeded. For example, “at least one of item A, item B, and item C” mayinclude, for example, without limitation, item A or item A and item B.This example also may include item A, item B, and item C or item B anditem C.

In one illustrative example, components or subassemblies produced incomponent and subassembly manufacturing 106 in FIG. 1 may be fabricatedor manufactured in a manner similar to components or subassembliesproduced while aircraft 200 is in service 112 in FIG. 1. As yet anotherexample, a number of apparatus embodiments, method embodiments, or acombination thereof may be utilized during production stages, such ascomponent and subassembly manufacturing 106 and system integration 108in FIG. 1. A number, when referring to items, means one or more items.For example, a number of apparatus embodiments may be one or moreapparatus embodiments. A number of apparatus embodiments, methodembodiments, or a combination thereof may be utilized while aircraft 200is in service 112 and/or during maintenance and service 114 in FIG. 1.The use of a number of the different advantageous embodiments maysubstantially expedite the assembly of and/or reduce the cost ofaircraft 200.

The different advantageous embodiments recognize and take into account anumber of considerations. For example, without limitation, the differentadvantageous embodiments recognize and take into account that smallerrobotic machines may be used to reach locations on or within a structurethat larger robotic machines may not be able to reach. The differentadvantageous embodiments recognize and take into account that inlocations in which larger robotic machines cannot be used, smallerrobotic machines may be employed.

For example, without limitation, some robotic machines may move on thestructure being assembled. These robotic machines may use a rail systemfor movement. A rail system may be attached to the structure.

As one illustrative example, without limitation, when skin panels areclamped to a frame for a fuselage, a rail system may be attached to thestructure. The robotic machine may then move along the rails and performoperations to fasten the skin panels to the ribs. These robotic machinesmay drill holes and insert fasteners to attach skin panels to the ribsof the structure.

The different advantageous embodiments recognize that the use of roboticmachines with rail systems may be cumbersome and more time consumingthan desired. The rails may need to be repositioned from location tolocation. This repositioning may require removing the robotic machine,removing the rail, reinstalling the rail in the new location, and thenplacing the robotic machine back onto the rail.

The different advantageous embodiments also recognize and take intoaccount that, in some cases, the robotic machines may have legs withsuction cups. Those suction cups may engage and disengage themselvesfrom the panels and move to different locations to perform operations.The movement of the legs along with the engagement and disengagement ofthe suction cups may occur in a manner that moves the machine.

The different advantageous embodiments recognize and take into accountthat these currently used machines may have a first frame and a secondframe. The frames may move relative to each other. The legs on bothframes may have suction cups that attach to the surface of the structurewhen a vacuum is applied.

When the robotic machine is ready to move to another location, thesuction cups for the legs on one frame may be disengaged. Those legs maythen be raised away from the surface of the structure. The first framemay then move relative to the second frame. Thereafter, the legs may beextended back onto the surface. A vacuum may be applied to the suctioncups to reengage the suction cups to the surface. Thereafter, thesuction cups or the legs on the second frame may be disengaged from thesurface of the structure. Those legs may then be retracted. The secondframe may move relative to the first frame. Thereafter, the legs may bere-extended and the suction cups may be engaged to the surface.

However, the different advantageous embodiments recognize and take intoaccount that with these types of frames that move in parallel to eachother, the systems may be more complex, heavier, and slower thandesired. Further, the different advantageous embodiments also recognizethat with the use of these types of systems, additional safety featuresmay be needed. These safety features may include additional straps orlines to secure the robotic machine in case the vacuum generated by thesuction cups does not provide the needed amount of vacuum to maintainattachment to the structure.

The different advantageous embodiments recognize and take into accountthat these types of systems may require more time to set up and operatethan desired.

Thus, the different advantageous embodiments provide a method andapparatus for performing operations on a structure. In one advantageousembodiment, an apparatus may comprise a frame system, a first number ofsuction cups, a second number of suction cups, and a controller. Theframe system may have a first frame and a second frame in which theframe system may be configured to hold an end effector that isconfigured to perform a number of operations. The first frame and thesecond frame may be configured for attachment to a workpiece. Thecontroller may be configured to control attachment of the first frameand the second frame to the workpiece by applying a vacuum and apressure during movement of the frame system.

With reference now to FIG. 3, an illustration of a manufacturingenvironment is depicted in accordance with an advantageous embodiment.In this illustrative example, manufacturing environment 300 may be anexample of an environment that may be used to manufacture structures foraircraft 302. Aircraft 302 may be an example of one implementation foraircraft 200 in FIG. 2. Aircraft 302 may have fuselage 304 and nose 306.

In this depicted example, crawler assembly system 308 may be used tomanufacture structures for aircraft 302. Crawler assembly system 308 maybe an example of a robotic machine in this illustrative example. Crawlerassembly system 308 may be used during at least one of component andsubassembly manufacturing 106, system integration 108, maintenance andservice 114, and/or other suitable phases during aircraft manufacturingand service method 100 in FIG. 1.

As depicted in this example, crawler assembly system 308 may be placedon surface 310 of fuselage 304. As one illustrative example, crawlerassembly system 308 may be used to install fasteners onto surface 310 offuselage 304. Additionally, crawler assembly system 308 may be used toperform a number of other operations to manufacture structures foraircraft 302.

With reference now to FIG. 4, an illustration of a manufacturingenvironment is depicted in accordance with an advantageous embodiment.Manufacturing environment 400 is an example of an environment that maybe used to manufacture structures for aircraft 200 in FIG. 2. Further,manufacturing environment 300 in FIG. 3 may be an example of oneimplementation for manufacturing environment 400 in FIG. 4.

In these illustrative examples, manufacturing environment 400 may beused during at least one of component and subassembly manufacturing 106,system integration 108, maintenance and service 114, and other suitablephases during aircraft manufacturing and service method 100 in FIG. 1.

In these illustrative examples, crawler assembly system 402 may performnumber of operations 404 on workpiece 406. In these illustrativeexamples, workpiece 406 may be a structure or a portion of a structurefor aircraft 200 in FIG. 2. Of course, workpiece 406 may be for othertypes of objects other than aircraft 200 in FIG. 2. For example, withoutlimitation, workpiece 406 may be for an automobile, a truck, a building,a spacecraft, a missile, a ship, a submarine, a dam, a bridge, and/orsome other suitable type of object.

In this illustrative example, crawler assembly system 402 may compriseframe system 408, controller 410, electromagnetic unit 412, vacuum andpressure unit 414, end effector 416, sensor system 418, and othersuitable components. When electromagnetic unit 412 is present, crawlerassembly system 402 may be referred to as an electromagnetic crawlerassembly system.

Frame system 408 may comprise first frame 420, second frame 422,movement system 424, first number of legs 426, second number of legs428, first number of suction cups 430, second number of suction cups432, and/or other suitable components. Frame system 408 may beconfigured to hold end effector 416.

In these illustrative examples, first frame 420 and second frame 422 maymove relative to each other. Movement system 424 may cause first frame420 and second frame 422 to move relative to each other. In theseexamples, movement system 424 may comprise number of motors 434.

First number of suction cups 430 may be associated with first frame 420and may be configured for attachment to workpiece 406. Second number ofsuction cups 432 may be associated with second frame 422. Second numberof suction cups 432 may be configured for attachment to workpiece 406.

In these illustrative examples, a first component may be considered tobe associated with a second component by being secured to the secondcomponent, bonded to the second component, fastened to the secondcomponent, and/or connected to the second component in some othersuitable manner. The first component also may be connected to the secondcomponent through using a third component. The first component may alsobe considered to be associated with the second component by being formedas part of and/or an extension of the second component.

In these examples, first number of suction cups 430 may be associatedwith first frame 420 using first number of legs 426. Second number ofsuction cups 432 may be associated with second frame 422 using secondnumber of legs 428.

In these illustrative examples, the attachment of first number ofsuction cups 430 and second number of suction cups 432 may be aremovable attachment. The attachment may be caused by vacuum 436 appliedby vacuum and pressure unit 414. Vacuum 436 may be applied to firstnumber of suction cups 430 through first number of legs 426 and tosecond number of suction cups 432 through second number of legs 428 inthese examples. Vacuum 436 may cause first number of suction cups 430and second number of suctions cups 432 to be attached to workpiece 406.

In these illustrative examples, vacuum 436 may be applied through atleast a portion of first number of suction cups 430 and second number ofsuction cups 432 to attach portion 438 of first number of suction cups430 and/or portion 439 of second number of suction cups 432 to surface440 of workpiece 406. In these examples, first number of suction cups430 and second number of suction cups 432 may have a number of differentshapes and/or sizes.

In these illustrative examples, first number of legs 426 and secondnumber of legs 428 may be moveable relative to surface 440 of workpiece406. First number of legs 426 and second number of legs 428 may bemoveable to conform to surface 440. For example, without limitation,surface 440 may be curved about one or more different axes (not shown).First number of legs 426 and/or second number of legs 428 may be movedrelative to surface 440 to allow first number of suction cups 430 and/orsecond number of suction cups 432 to contact surface 440.

In this manner, vacuum 436 may be applied to attach first number ofsuction cups 430 and/or second number of suction cups 432 to surface 440of workpiece 406. The positioning or movement of first number of legs426 and/or second number of legs 428 may be performed using movementsystem 424.

In these illustrative examples, movement of crawler assembly system 402may be accomplished in any number of different ways. In one illustrativeexample, first number of suction cups 430 and second number of suctioncups 432 may be attached to surface 440 of workpiece 406 during theperformance of number of operations 404.

In these illustrative examples, end effector 416 may perform number ofoperations 404 under the control of controller 410. End effector 416 maycomprise at least one of drill unit 441, fastener system 443, sealantunit 445, vision system 447, and/or other suitable devices. End effector416 may be a device that may be moved by crawler assembly system 402 todifferent locations on workpiece 406 to perform number of operations404.

In these depicted examples, number of operations 404 may be performed atlocation 444 within area 442 of workpiece 406. Area 442 may be an areawithin which end effector 416 may be moved by crawler assembly system402 without moving frame system 408. After number of operations 404 havebeen performed, crawler assembly system 402 may be moved to location448.

In these illustrative examples, end effector 416 may be stabilized usingelectromagnetic unit 412. Electromagnetic unit 412 may be associatedwith first frame 420. Electromagnetic unit 412 may engage magneticmaterial 446 on workpiece 406 to provide better attachment of crawlerassembly system 402 to workpiece 406 during performance of number ofoperations 404. This provides attachment in addition to applying vacuum436 to first number of suction cups 430 and second number of suctioncups 432.

When moving from location 444 to location 448, vacuum 436 may be appliedto first number of suction cups 430 and pressure 450 may be applied tosecond number of suction cups 432. Pressure 450 may provide force 452 tolift second frame 422 away from surface 440 of workpiece 406.

In these illustrative examples, first number of suction cups 430 andsecond number of suction cups 432 may also be configured to apply vacuum436 and/or pressure 450. Suction cups of various geometries may be usedto implement first number of suction cups 430 and second number ofsuction cups 432. Examples of suction cups that may be used include, forexample, without limitation, suction cups available from Piab USA, Inc.

Second frame 422 may be moved relative to first frame 420 by movementsystem 424 while pressure 450 is applied to second number of suctioncups 432 and vacuum 436 is applied to first number of suction cups 430.After movement of second frame 422 has completed, vacuum 436 may beapplied to second number of suction cups 432.

Additionally, pressure 450 may be applied to first number of suctioncups 430 while vacuum 436 is applied to second number of suction cups432. Then, first frame 420 may be moved relative to second frame 422while vacuum 436 is applied to second number of suction cups 432 andpressure 450 is applied to first number of suction cups 430. Thissequence of steps may be performed to move workpiece 406 from location444 to location 448.

Additionally, in some advantageous embodiments, first frame 420 andsecond frame 422 may move relative to each other to move frame system408 from location 444 to location 448, while end effector 416 performsnumber of operations 404. In this manner, pauses in the performance ofnumber of operations 404 for movement of crawler assembly system 402 maybe reduced and/or avoided.

Further, electromagnetic unit 412 may provide force 454 to hold firstframe 420 on workpiece 406, while second frame 422 moves relative tofirst frame 420. Additionally, electromagnetic unit 412 may provide anadditional mechanism to hold crawler assembly system 402 on workpiece406 in case first number of suction cups 430 and second number ofsuction cups 432 are unable to hold frame system 408 on workpiece 406.

In these illustrative examples, controller 410 may comprise a computer,a processor unit, an application specific integrated circuit, or someother suitable device that controls the operation of crawler assemblysystem 402. Controller 410 may be configured to control attachment offirst frame 420 and second frame 422 to workpiece 406 by applying vacuum436 and pressure 450 during movement of frame system 408. Controller 410may store locations and/or operations to be performed on workpiece 406in the form of program code 456. Program code 456 may be run to performnumber of operations 404 on workpiece 406.

Sensor system 418, in these illustrative examples, may be used toidentify the location of crawler assembly system 402 on workpiece 406.Further, sensor system 418 may be used to position end effector 416relative to workpiece 406. Sensor system 418 also may be used to performinspections on number of operations 404. In these illustrative examples,sensor system 418 may comprise, for example, without limitation,infrared sensors, cameras, ultrasonic sensors, and/or other suitabletypes of sensors.

The illustration of manufacturing environment 400 is not meant to implyphysical architectural limitations to the manner in which differentadvantageous embodiments may be implemented. Other components inaddition to and/or in place of the ones illustrated may be used. Somecomponents may be unnecessary in some advantageous embodiments. Also,the blocks are presented to illustrate some functional components. Oneor more of these blocks may be combined and/or divided into differentblocks when implemented in different advantageous embodiments.

For example, in some advantageous embodiments, crawler assembly systemsin addition to crawler assembly system 402 may be present to performoperations on workpiece 406. In still other advantageous embodiments,crawler assembly system 402 may comprise a number of additional endeffectors in addition to end effector 416. Also, additionalelectromagnetic units in addition to electromagnetic unit 412 may bepresent.

In these illustrative examples, first leg 458 and second leg 462 infirst number of legs 426 may be configured to rotate about axis 460. Therotation of first leg 458 and/or second leg 462 about axis 460 may causeelectromagnetic unit 412 to rotate about axis 460. In this manner, thepositioning of electromagnetic unit 412 may be performed for differenttypes of surfaces on workpiece 406.

With reference now to FIG. 5, an illustration of a crawler assemblysystem is depicted in accordance with an advantageous embodiment. Inthis illustrative example, crawler assembly system 500 may be an exampleof one implementation for crawler assembly system 308 in FIG. 3 and/orcrawler assembly system 402 in FIG. 4.

Crawler assembly system 500 may include frame system 502,electromagnetic unit 504, vacuum and pressure unit 506, end effector508, sensor system 510, and controller 512. In this illustrativeexample, frame system 502 may comprise first frame 514, second frame516, movement system 518, first number of legs 520, second number oflegs 522, first number of suction cups 524, and second number of suctioncups 526.

In this depicted example, second frame 516 may include portion 511 andportion 513. Portion 511 and portion 513 may be attached to each otherto form second frame 516. Further, first frame 514 may be associatedwith portion 513 of second frame 516.

First frame 514 and second frame 516 may move relative to each otherusing movement system 518. Movement system 518 may include motor 528 inthis illustrative example. Additionally, movement system 518 may includemotors 552, 553, 554, 555, 556, 557, 558, 559, 560, and 561. Movementsystem 518 may be used to move at least a portion of first number oflegs 520 relative to at least a first portion of second number of legs522.

In this depicted example, first number of legs 520 and first number ofsuction cups 524 may be associated with first frame 514. First number oflegs 520 may include leg 530 and leg 531. First number of suction cups524 may include suction cup 532 and suction cup 533 attached to leg 530and leg 531, respectively. First number of suction cups 524 may beconfigured to be attached to a surface of a workpiece (not shown), suchas workpiece 406 in FIG. 4.

Second number of legs 522 and second number of suction cups 526 may beassociated with second frame 516. Second number of legs 522 may includelegs 534, 535, 536, 537, 538, 539, 540, and 541. Second number ofsuction cups 526 may include suction cups 542, 543, 544, 545, 546, 547,and 548 attached to legs 534, 535, 536, 537, 538, 539, and 541,respectively, and another suction cup (not shown) attached to leg 540.Second number of suction cups 526 also may be configured to be attachedto the surface of the workpiece.

In this illustrative example, first number of legs 520 and second numberof legs 522 may be moveable. Movement of first number of legs 520 and/orsecond number of legs 522 may be provided by movement system 518.

For example, without limitation, motor 552 and motor 553 may move leg530 and leg 531, respectively, vertically in the direction of arrow 549.Further, motors 554, 555, 556, 557, 558, 559, 560, and 561 may beassociated with legs 534, 535, 536, 537, 538, 539, 540, and 541,respectively. Each of these motors may be configured to move acorresponding leg vertically in the direction of arrow 549. Legs withinfirst number of legs 520 and/or second number of legs 522 may be movedto different positions by movement system 518.

With this type of movement for first number of legs 520 and secondnumber of legs 522, first number of legs 520 and second number of legs522 may be capable of substantially conforming to the surface of theworkpiece when the surface is a curved surface. For example, legs withinfirst number of legs 520 and/or second number of legs 522 may be movedsuch that first number of suction cups 524 and second number of suctioncups 526 may all contact the curved surface of the workpiece.

The attachment of first number of suction cups 524 and second number ofsuction cups 526 to the workpiece may be performed using vacuum andpressure unit 506. Vacuum and pressure unit 506 may include lines thatconnect vacuum and pressure unit 506 to first number of legs 520 andsecond number of legs 522.

For example, without limitation, vacuum and pressure unit 506 mayinclude lines 562, 563, 564, 565, 566, 567, 568, and 569 that connect tolegs 534, 535, 536, 537, 538, 539, 540, and 541, respectively. Further,vacuum and pressure unit 506 may include line 570 and line 571 thatconnect to leg 530 and leg 531, respectively. Vacuum and pressure unit506 may apply a vacuum and/or pressure to these legs through theselines.

Vacuum and pressure unit 506 may generate a vacuum such that at least aportion of first number of suction cups 524 and/or second number ofsuction cups 526 may attach to a surface of the workpiece. Inparticular, vacuum and pressure unit 506 may generate a vacuum throughat least a portion of second number of legs 522 and/or first number oflegs 520 such that at least a portion of first number of suction cups524 and/or second number of suction cups 526 may attach to a surface ofthe workpiece. In other words, vacuum and pressure unit 506 may evacuatethe air within at least a portion of first number of suction cups 524and/or second number of suction cups 526 to generate the vacuum thatallows attachment to the surface of the workpiece.

In this illustrative example, first frame 514 may move relative tosecond frame 516 in the direction of arrow 549 and the direction ofarrow 525 using vacuum and pressure unit 506 and movement system 518.For example, without limitation, vacuum and pressure unit 506 may applya vacuum to first number of suction cups 524. The vacuum may cause firstnumber of suction cups 524 to attach to the surface of the workpiece.

Vacuum and pressure unit 506 may also apply pressure to second number ofsuction cups 526. In other words, vacuum and pressure unit 506 maypressurize second number of suction cups 526 instead of applying avacuum to second number of suction cups 526. This pressurization mayprovide a force to lift second number of suctions cups 526 off thesurface of the workpiece.

Further, the pressurization of second number of suction cups 526 may beprovided by a cushion of air in this illustrative example. In thismanner, second frame 516 may be lifted off of the surface of theworkpiece by the pressure applied by vacuum and pressure unit 506.

With second frame 516 lifted off the surface of the workpiece, motor 528may be operated to move second frame 516 relative to first frame 514.Second frame 516 may be moved in the direction of arrow 525 while firstframe 514 remains attached to the surface of the workpiece by firstnumber of suction cups 524.

When second frame 516 has been moved to the desired location, vacuum andpressure unit 506 may apply a vacuum to second number of suction cups526 to attach second number of suction cups 526 to the surface of theworkpiece. In these illustrative examples, crawler assembly system 500may be moved over the surface of the workpiece by moving either firstframe 514 or second frame 516 first.

In these depicted examples, each suction cup in first number of suctioncups 524 and second number of suction cups 526 may have a flexibilitythat may allow each suction cup to attach to a curved surface. Further,this flexibility may allow at least a portion of first number of suctioncups 524 and/or second number of suction cups 526 to attach to a surfaceat an angle relative to a surface to which another portion of firstnumber of suction cups 524 and/or second number of suction cups 526 isattached. As one illustrative example, one portion of second number ofsuction cups 526 may be attached to a portion of a surface at a firstangle and another portion of second number of suction cups 526 may beattached to another portion of the surface at a second angle.

Additionally, crawler assembly system 500 may also have motor 550 andmotor 551 associated with first frame 514. Motor 550 and motor 551 maybe electric motors, air motors, air cylinders, and/or some othersuitable type of motor. Motor 550 and motor 551 may be used to rotate atleast one of leg 530 and leg 531. For example, without limitation, leg530 may be rotated in a first direction about axis 590, and leg 531 maybe rotated in a second direction about axis 590. Rotation of leg 530 andleg 531, while a vacuum is applied to suction cup 532 and suction cup533, may cause rotation of frame system 502 about axis 592. Rotation offrame system 502 about axis 592 may cause crawler assembly system 500 toturn on the surface of a workpiece.

Additionally, motor 550 and motor 551 may be used to rotate leg 530 andleg 531 such that suction cup 532 and suction cup 533 may contact acurved surface for the workpiece.

In this illustrative example, electromagnetic unit 504 may provideadditional attachment of crawler assembly system 500 to the workpiece.For example, without limitation, electromagnetic unit 504 may provideadditional attachment of crawler assembly system 500 to the workpiece ifany of the suctions cups in first number of suction cups 524 or secondnumber of suction cups 526 do not attach to the workpiece as desired.

Additionally, end effector 508 may be used to perform a number ofoperations on the workpiece. In this illustrative example, end effector508 may include drill unit 580 and fastener system 581. Drill unit 580may be used to perform drilling operations, and fastener system 581 maybe used to perform fastening operations. These operations may beperformed while first frame 514 is attached to the workpiece. Secondframe 516 may be attached to the workpiece or may be moving towards adesired location while the operations are performed by end effector 508.

In this illustrative example, sensor system 510 may be used to generateinformation about the surface of the workpiece on which the operationsare to be performed. For example, without limitation, sensor system 510may include camera 582 in this depicted example. Camera 582 may be usedto generate image information used to identify the location at which theoperations are to be performed. Further, the image information may alsobe used for positioning drill unit 580 and/or fastener system 581 forperforming the operations.

As depicted in this illustrative example, controller 512 may beassociated with first frame 514. Controller 512 may take the form ofcomputer system 584 in this depicted example. Computer system 584 may beused to control crawler assembly system 500. For example, withoutlimitation, computer system 584 may be used to control the movement ofcrawler assembly system 500 by movement system 518, the positioning ofend effector 508, the types of operations performed by end effector 508,and/or other suitable operations.

In these illustrative examples, controller 512 may be operated manuallyand/or automatically. For example, in some cases, controller 512 may runprogram code to control crawler assembly system 500. In other examples,controller 512 may be operated by a human operator.

With reference now to FIG. 6, an illustration of a bottom view of acrawler assembly structure is depicted in accordance with anadvantageous embodiment. In this illustrative example, suction cup 600in second number of suction cups 526 for crawler assembly system 500 inFIG. 5 may be seen. Suction cup 600 may be associated with leg 540 insecond number of legs 522 in FIG. 5.

With reference now to FIG. 7, an illustration of a front view of acrawler assembly system is depicted in accordance with an advantageousembodiment. In this illustrative example, crawler assembly system 500may be seen from the front of first frame 514. As depicted, crawlerassembly system 500 may be placed on workpiece 700. In particular,suction cups 546, 547, 600, and 548 may be seen attached to surface 702of workpiece 700.

With reference now to FIG. 8, an illustration of a cross-sectional sideview of a portion of a crawler assembly system is depicted in accordancewith an advantageous embodiment. As depicted in this example, crawlerassembly system 500 may use motor 550 to rotate leg 530 about axis 590substantially perpendicular to axis 592. Leg 530 may be rotated aboutaxis 590 such that center line 802 for leg 530 may be rotated about plusor minus five degrees away from axis 592 in the direction of arrow 800.

With reference now to FIG. 9, an illustration of a cross-sectional sideview of a portion of a crawler assembly system is depicted in accordancewith an advantageous embodiment. In this illustrative example, centerline 802 for leg 530 has been rotated to position 900. As depicted,position 900 may be about plus five degrees away from axis 592. Therotation of leg 530 may be caused by the operation of motor 550 in thisillustrative example.

Additionally, leg 531 in FIG. 5 may also be rotated to a position awayfrom axis 592 in a direction opposite to the rotation of leg 530 in thisillustrative example. Rotation of these two legs in opposite directionsmay cause frame system 502 to rotate about axis 592. In this manner,crawler assembly system 500 may be turned using motor 550 and motor 551in FIG. 5 to rotate leg 530 and leg 531, respectively.

With reference now to FIG. 10, an illustration of a crawler assemblysystem is depicted in accordance with an advantageous embodiment. Inthis illustrative example, crawler assembly system 500 may have adifferent configuration as compared to the configuration for crawlerassembly system 500 in FIG. 5.

As depicted in this example, portion 511 of second frame 516 may beremoved. Only portion 513 of second frame 516 may be present for crawlerassembly system 500. Removal of portion 511 may reduce the size and/orweight of crawler assembly system 500. This reduction in size and/orweight may allow crawler assembly system 500 to move to a greater numberof locations and be in a greater number of positions as compared to whenportion 511 is present for crawler assembly system 500.

With reference now to FIG. 11, an illustration of a back view of acrawler assembly system placed on a workpiece is depicted in accordancewith an advantageous embodiment. In this illustrative example, a backview of crawler assembly system 500 may be illustrated taken along lines11-11 in FIG. 10. As depicted, crawler assembly system 500 may be shownfrom the view of controller 512.

In this illustrative example, crawler assembly system 500 may be placedon workpiece 1100. Workpiece 1100 may have curved surface 1102 in thisillustrative example. Legs 538, 539, 540, and 541 may be moved such thatsuction cup 546, 547, 600, and 548 are in contact with curved surface1102.

In this illustrative example, suction cup 532 and suction cup 533 maynot be in contact with curved surface 1102 such that first frame 514 maybe moved along axis 1104. For example, without limitation, vacuum andpressure unit 506 may apply pressure to suction cup 532 and suction cup533. In other words, the vacuum applied to suction cup 532 and suctioncup 533 may be removed by pressurizing suction cup 532 and suction cup533.

This pressurization of these suction cups may provide the force neededto lift suction cup 532 and suction cup 533 off of curved surface 1102.In particular, this force may be provided by, for example, withoutlimitation, cushion of air 1106 under suction cup 532 and cushion of air1108 under suction cup 533. When suction cup 532 and suction cup 533 arelifted off of curved surface 1102, first frame 514 may be moved alongaxis 1104 to a desired location.

Further, leg 530 in FIG. 9 and leg 531 in FIG. 7 may be moved such thatsuction cup 532 and suction cup 533 may not come in contact with curvedsurface 1102 while first frame 514 is moved. In some illustrativeexamples, leg 530 and leg 531 may not need to be moved, because cushionof air 1106 and cushion of air 1108 may provide force sufficient to liftsuction cup 532 and suction cup 533, respectively, off of curved surface1102 as first frame 514 is moved along axis 1104.

With reference now to FIGS. 12-15, illustrations of a crawler assemblysystem on a workpiece are depicted in accordance with an advantageousembodiment. In these illustrative examples, crawler assembly system 500in FIGS. 12-15 has the configuration presented in FIG. 10.

Turning now to FIG. 12, crawler assembly system 500 may be placed onworkpiece 1200. Suction cups 532, 533, 546, 547, 600, and 548 may beattached to surface 1202 of workpiece 1200. Suction cups 532, 533, 546,547, 600, and 548 may be attached to surface 1202 using a vacuumprovided by vacuum and pressure unit 506.

As depicted in this example, electromagnetic unit 504 may attach tomagnetic material 1204 positioned under workpiece 1200 to provideadditional attachment of crawler assembly system 500 to workpiece 1200in addition to the attachment provided by suction cups 532, 533, 546,547, 600, and 548.

In this illustrative example, first frame 514 may be in position 1206 onworkpiece 1200. First frame 514 may be in position 1206 such thatfastener unit 581 may be placed over location 1208 on workpiece 1200.Fastener unit 581 for end effector 508 may be used to perform fasteningoperations at location 1208 on workpiece 1200.

In FIG. 13, when fastening operations have been completed, controller512 may release the attachment of electromagnetic unit 504 from surface1202 of workpiece 1200. Further, vacuum and pressure unit 506 may applypressure to suction cup 532 and suction cup 533 to lift suction cup 532and suction cup 533 off of surface 1202.

Turning now to FIG. 14, with suction cup 532 and suction cup 533 nolonger in contact with surface 1202, first frame 514 may be moved fromposition 1204 in FIGS. 12 and 13 in the direction of arrow 1400 toposition 1402. Second frame 516 may not move while first frame 514 ismoved.

In FIG. 15, controller 512 may control electromagnetic unit 504 suchthat electromagnetic unit 504 attaches to surface 1202. Further, vacuumand pressure unit 506 may apply a vacuum to suction cup 532 and suctioncup 533 such that suction cup 532 and suction cup 533 attach to surface1202. With first frame 514 at position 1402 and suction cup 532 andsuction cup 533 attached to surface 1202, fastener system 581 may beused to perform fastening operations at location 1500 on workpiece 1200.

With reference now to FIG. 16, an illustration of a crawler assemblysystem is depicted in accordance with an advantageous embodiment. Inthis illustrative example, crawler assembly system 1600 may be anexample of one implementation of crawler assembly system 402 in FIG. 4and/or crawler assembly system 308 in FIG. 3.

As depicted in this example, crawler assembly system 1600 may includeframe system 1602, electromagnetic unit 1604, vacuum and pressure unit1606, end effector 1608, and sensor system 1610. Frame system 1602 maycomprise first frame 1612, second frame 1614, movement system 1616,first number of legs 1618, second number of legs 1620, first number ofsuction cups 1622, and second number of suction cups 1624.

In this illustrative example, first frame 1612 may be positioned withininterior 1615 of second frame 1614. This configuration for crawlerassembly system 1600 may be different than the configuration for crawlerassembly system 500 in FIG. 5 and in FIG. 9.

First number of legs 1618 may be associated with first frame 1612 andmay include leg 1640 and leg 1641. Second number of legs 1620 may beassociated with second frame 1614 and may include legs 1626, 1627, 1628,1629, 1630, 1631, 1632, 1633, 1634, 1635, 1636, 1637, 1638, and 1639.

First number of suction cups 1622 may include suction cup 1643 attachedto leg 1641 and another suction cup (not shown) attached to leg 1640.Second number of suction cups 1624 may include suction cups 1644, 1645,1646, 1647, 1648, 1649, 1650, 1651, 1652, 1653, 1654, 1655, 1656, and1657 attached to legs 1626, 1627, 1628, 1629, 1630, 1631, 1632, 1633,1634, 1635, 1636, 1637, 1638, and 1639, respectively.

In these illustrative examples, movement system 1616 may be configuredto move first frame 1612 relative to second frame 1614. Movement system1616 may be configured to move first frame 1612 and/or second frame 1614along axis 1617.

Further, movement system 1616 may be configured to move first number oflegs 1618 and/or second number of legs 1620 vertically such that firstnumber of suction cups 1622 and/or second number of suction cups 1624may all contact the surface of a workpiece (not shown).

Movement system 1616 may include motors 1658, 1659, 1660, 1661, 1662,1663, 1664, 1665, 1666, 1667, 1668, 1669, 1670, and 1671 associated withlegs 1626, 1627, 1628, 1629, 1630, 1631, 1632, 1633, 1634, 1635, 1636,1637, 1638, and 1639, respectively. Further, movement system 1616 mayinclude motor 1672 associated with leg 1640, motor 1673 associated withleg 1641, and/or other suitable motors not shown in this view.

In this illustrative example, motor 1676 and motor 1677 may beassociated with first frame 1612. Motor 1676 may tilt leg 1640 and/ormotor 1677 may tilt leg 1641 relative to the surface of the workpiecesuch that first number of suction cups 1622 may conform to the surfaceof the workpiece.

Electromagnetic unit 1604 may provide additional attachment for crawlerassembly system 1600 to a workpiece. Additionally, end effector 1608 mayinclude fastener system 1678 and drill unit 1680. Fastener system 1678and drill unit 1680 may be associated with first frame 1612. Fastenersystem 1678 may be used to perform fastening operations on theworkpiece. Drill unit 1680 may be used to perform drilling operations onthe workpiece.

Sensor system 1610 may be used to identify the location on the workpieceat which to perform operations. Further, sensor system 1610 may be usedto position end effector 1608 to perform the operations and/or inspectthe operations being performed.

With reference now to FIG. 17, an illustration of a flowchart of aprocess for performing operations on a workpiece is depicted inaccordance with an advantageous embodiment. The process illustrated inFIG. 17 may be implemented using crawler assembly system 402 in FIG. 4.

The process may begin by selecting a location to which to move crawlerassembly system 402 (operation 1700). Crawler assembly system 402 maycomprise frame system 408 having first frame 420, second frame 422,first number of suction cups 430, second number of suction cups 432, andcontroller 410. Frame system 408 may be configured to hold end effector416. End effector 416 may be configured to perform number of operations404.

The process may then move crawler assembly system 402 to the selectedlocation (operation 1702). Next, the process may perform number ofoperations 404 at the selected location on workpiece 406 (operation1704).

Thereafter, the process may determine whether another location ispresent for processing (operation 1706). If another location is presentfor processing, the process returns to operation 1700. Otherwise, theprocess may terminate.

With reference now to FIG. 18, an illustration of a flowchart of aprocess for moving a crawler assembly system is depicted in accordancewith an advantageous embodiment. The process illustrated in FIG. 18 maybe implemented using crawler assembly system 402 in FIG. 4. This processmay be a more-detailed process for operation 1702 in FIG. 17.

The process may begin by applying pressure 450 to first number ofsuction cups 430 (operation 1800). Pressure 450 may provide force 452that may lift first number of suction cups 430 off of surface 440 ofworkpiece 406. In this illustrative example, vacuum 436 may be appliedto second number of suction cups 432 such that second number of suctioncups 432 may be attached to surface 440 of workpiece 406.

The process may then disengage electromagnetic unit 412 from workpiece406 (operation 1802). Next, the process may move first frame 420 to aselected location (operation 1804). Second frame 422 may not move whenfirst frame 420 is moved to the selected location.

Thereafter, the process may apply vacuum 436 to first number of suctioncups 430 (operation 1806). Next, the process may engage electromagneticunit 412 such that electromagnetic unit 412 attaches to workpiece 406(operation 1808).

The process may then apply pressure to second number of suction cups 432to remove vacuum 436 applied to second number of suction cups 432(operation 1810). Next, the process may move second frame 422 (operation1812). Thereafter, the process may determine whether movement of crawlerassembly system 402 to the selected location has been completed(operation 1814). If movement of crawler assembly system 402 to theselected location has not been completed, the process may return tooperation 1800 as described above. Otherwise, the process may terminate.

With reference now to FIG. 19, an illustration of a flowchart of aprocess for adjusting the legs of a crawler assembly system is depictedin accordance with an advantageous embodiment. The process illustratedin FIG. 19 may be implemented using crawler assembly system 402 in FIG.4.

The process may begin by identifying the contour of surface 440 ofworkpiece 406 (operation 1900). For example, without limitation, inoperation 1900, the contour may be identified as curved, jagged,straight, and/or having some other type of contour. Additionally, thecontour may be identified as a complex contour in which the contour iscurved in at least two directions.

Thereafter, the process may select a number of legs within first numberof legs 426 and/or second number of legs 428 (operation 1902). Theprocess may then adjust the selected number of legs (operation 1904),with the process terminating thereafter.

In operation 1904, the selected number of legs may be adjusted by movingat least a portion of the selected number of legs vertically to adjustfor the contour of surface 440. Further, the selected number of legs maybe adjusted by tilting at least a portion of the selected number of legsin second number of legs 428 relative to surface 440. Tilting of thisportion of the selected number of legs may allow electromagnetic unit412 to be tilted such that electromagnetic unit 412 may attach tosurface 440.

The flowcharts and block diagrams in the different depicted embodimentsillustrate the architecture, functionality, and operation of somepossible implementations of apparatus and methods in differentadvantageous embodiments. In this regard, each block in the flowchartsor block diagrams may represent a module, segment, function, and/or aportion of an operation or step.

In some alternative implementations, the function or functions noted inthe block may occur out of the order noted in the figures. For example,in some cases, two blocks shown in succession may be executedsubstantially concurrently, or the blocks may sometimes be executed inthe reverse order, depending upon the functionality involved. Also,other blocks may be added in addition to the illustrated blocks in aflowchart or block diagram.

For example, in some advantageous embodiments, operation 1706 may beperformed while operation 1704 is being performed. In other words, thedetermination as to whether to move crawler assembly system 402 toanother location may be made while operation 1704 is being performed.Further, if another location is present for processing, operations 1700and 1702 may also be performed while operation 1704 is being performed.

Thus, the different advantageous embodiments provide a method andapparatus for performing operations on a workpiece. In one advantageousembodiment, an apparatus may comprise a frame system, a first number ofsuction cups, a second number of suction cups, and a controller. Theframe system may have a first frame and a second frame in which theframe system may be configured to hold an end effector. The end effectormay be configured to perform a number of operations. The first number ofsuction cups may be associated with the first frame in which the firstnumber of suction cups is configured for attachment to a workpiece.

The second number of suction cups may be associated with the secondframe in which the second number of suction cups may be configured forattachment to a workpiece. The controller may be configured to controlan application of a vacuum and a pressure by the first number of suctioncups and the second number of suction cups during movement of the firstframe and the second frame relative to each other on the workpiece.

The description of the different advantageous embodiments has beenpresented for purposes of illustration and description and is notintended to be exhaustive or limited to the embodiments in the formdisclosed. Many modifications and variations will be apparent to thoseof ordinary skill in the art. Further, different advantageousembodiments may provide different advantages as compared to otheradvantageous embodiments. The embodiment or embodiments selected arechosen and described in order to best explain the principles of theembodiments, the practical application, and to enable others of ordinaryskill in the art to understand the disclosure for various embodimentswith various modifications as are suited to the particular usecontemplated.

1. An apparatus comprising: a frame system having a first frame and asecond frame in which the frame system is configured to hold an endeffector that is configured to perform a number of operations in whichthe first frame is configured for attachment to a workpiece and in whichthe second frame is configured for attachment to the workpiece; and acontroller configured to control attachment of the first frame and thesecond frame to the workpiece by applying a vacuum and a pressure duringmovement of the frame system.
 2. The apparatus of claim 1, wherein thefirst frame and the second frame are configured to move relative to eachother on the workpiece.
 3. The apparatus of claim 1 further comprising:a first number of suction cups associated with the first frame in whichthe first number of suction cups is configured for attachment to theworkpiece; and a second number of suction cups associated with thesecond frame in which the second number of suction cups is configuredfor the attachment to the workpiece; wherein the controller isconfigured to control an application of the vacuum and the pressure bythe first number of suction cups and the second number of suction cupsduring the movement of the frame system.
 4. The apparatus of claim 3,wherein a number of legs connect the first number of suction cups to thefirst frame and wherein movement of a first portion of the number oflegs in a first direction and movement of a second portion of the numberof legs in a second direction, while the vacuum is applied to a firstportion of the first number of suction cups connected to the firstportion of the number of legs and to a second portion of the firstnumber of suction cups connected to the second portion of the number oflegs and the pressure is applied to the second number of suction cups,causes the frame system to turn on a surface of the workpiece.
 5. Theapparatus of claim 1 further comprising: an electromagnetic unitassociated with the first frame, wherein the electromagnetic unit isconfigured to attract a magnetic material associated with the workpiecesuch that the electromagnetic unit holds the first frame on theworkpiece.
 6. The apparatus of claim 5, wherein a channel extendsthrough the electromagnetic unit and is configured to receive the endeffector and allow the end effector to reach a surface of the workpiece.7. The apparatus of claim 6, wherein the channel is configured toreceive an end of the end effector and allow the end of the end effectorto reach the surface of the workpiece.
 8. The apparatus of claim 4further comprising: a first leg in the first portion of the number oflegs, wherein the first leg is configured to rotate about a first axisin the first direction; and a second leg in the second portion of thenumber of legs, wherein the second leg is configured to rotate about thefirst axis in the second direction, wherein rotation of the first leg inthe first direction and the second leg in the second direction about thefirst axis causes rotation of the frame system about a second axis thatis substantially perpendicular to the surface of the workpiece.
 9. Theapparatus of claim 1 further comprising: a vacuum and pressure unitconnected to a first number of suction cups and a second number ofsuction cups, wherein the vacuum and pressure unit is configured toapply at least one of the vacuum and the pressure to the first number ofsuction cups and the second number of suction cups.
 10. The apparatus ofclaim 1, wherein the frame system further comprises: a movement systemconfigured to move the first frame and the second frame relative to eachother.
 11. The apparatus of claim 1, wherein the frame system comprises:a first number of legs connecting a first number of suction cups to thefirst frame; and a second number of legs connecting a second number ofsuction cups to the second frame.
 12. The apparatus of claim 11, whereina movement system is configured to move the first number of legs and thesecond number of legs to conform to a surface of the workpiece while theend effector is performing the number of operations on the workpiece.13. The apparatus of claim 1, wherein the controller is configured toapply the vacuum to a first number of suction cups to cause the vacuumto be present in each of the first number of suction cups and thepressure to a second number of suction cups to pressurize each suctioncup in the second number of suction cups; move the second frame relativeto the first frame while the vacuum present in the each suction cup inthe second number of suction cups holds the first frame to theworkpiece; apply the vacuum to the second number of suction cups tocause the vacuum to be present in each of the second number of suctioncups after movement of the second frame; apply the pressure to the firstnumber of suction cups to pressurize the each suction cup in the firstnumber of suction cups after the vacuum is applied to the second numberof suction cups; move the first frame relative to the second frame whilethe vacuum present in the each suction cup in the second number ofsuction cups holds the second frame to the workpiece.
 14. The apparatusof claim 13 further comprising: an electromagnetic unit associated withthe first frame, wherein the electromagnetic unit is configured toattract a magnetic material associated with the workpiece such that theelectromagnetic unit holds the first frame on the workpiece during themovement of the second frame.
 15. The apparatus of claim 13, wherein theapplication of the pressure by the first number of suction cups and thesecond number of suction cups provides a force to lift.
 16. Theapparatus of claim 1 further comprising: the end effector.
 17. Theapparatus of claim 16, wherein the end effector comprises at least oneof a drill unit, a fastener system, a sealant unit, and a vision system.18. A crawler assembly system comprising: a frame system configured tohold an end effector that is configured to perform a number ofoperations on a workpiece in which the frame system comprises: a firstframe; a second frame in which the first frame and the second frame areconfigured to move relative to each other on the workpiece; a firstnumber of legs in which a first leg in a first portion of the firstnumber of legs is configured to rotate about a first axis in a firstdirection, in which a second leg in a second portion of the first numberof legs is configured to rotate about the first axis in a seconddirection, and in which rotation of the first leg in the first directionand the second leg in the second direction about the first axis causesrotation of the frame system about a second axis that is substantiallyperpendicular to a surface of the workpiece; a second number of legs;and a movement system configured to move the first frame and the secondframe relative to the each other and to move the first number of legsand the second number of legs to conform to the surface of the workpiecewhile the end effector is performing the number of operations on theworkpiece; a first number of suction cups connected to the first frameby the first number of legs in which the first number of suction cups isconfigured for attachment to the workpiece and in which a first portionof the first number of suction cups is connected to the first portion ofthe first number of legs and a second portion of the first number ofsuction cups is connected to the second portion of the first number oflegs; a second number of suction cups connected to the second frame bythe second number of legs in which the second number of suction cups isconfigured for the attachment to the workpiece; a controller configuredto control an application of a vacuum and a pressure by the first numberof suction cups and the second number of suction cups during movement ofthe frame system in which movement of the first portion of the firstnumber of legs in the first direction and movement of the second portionof the first number of legs in the second direction, while the vacuum isapplied to the first portion of the first number of suction cups and toa second portion of the second number of suction cups and the pressureis applied to the second number of suction cups, causes the frame systemto turn on the surface of the workpiece; an electromagnetic unitassociated with the first frame in which the electromagnetic unit isconfigured to attract a magnetic material associated with the workpiecesuch that the electromagnetic unit holds the first frame on theworkpiece and in which a channel extends through the electromagneticunit and is configured to receive an end of the end effector and allowthe end of the end effector to reach the surface of the workpiece; avacuum and pressure unit connected to the first number of suction cupsand the second number of suction cups in which the vacuum and pressureunit is configured to apply at least one of the vacuum and the pressureto the first number of suction cups and the second number of suctioncups; and the end effector in which the end effector comprises at leastone of a drill unit, a fastener system, a sealant unit, and a visionsystem.
 19. The crawler assembly system of claim 16, wherein thecontroller is configured to apply the vacuum to the first number ofsuction cups and the pressure to the second number of suction cups; movethe second frame relative to the first frame while the second number ofsuction cups holds the first frame to the workpiece; apply the vacuum tothe second number of suction cups after movement of the second frame;apply the pressure to the first number of suction cups after the vacuumis applied to the second number of suction cups; and move the firstframe relative to the second frame while the second number of suctioncups holds the second frame to the workpiece.
 20. A method forperforming operations on a workpiece, the method comprising: holding afirst frame in a frame system on the workpiece by applying a vacuum tothe first frame; detaching a second frame in the frame system from theworkpiece by applying a pressure to the second frame; moving the secondframe to a location on the workpiece; attaching the second frame to theworkpiece by applying the vacuum to the second frame; and performing anoperation on the workpiece.
 21. The method of claim 20, wherein theframe system is part of a crawler assembly system and wherein thecrawler assembly system comprises an end effector associated with theframe system and configured to perform the operation; a first number ofsuction cups associated with the first frame in which the first numberof suction cups is configured for attachment to the workpiece; a secondnumber of suction cups associated with the second frame in which thesecond number of suction cups is configured for the attachment to theworkpiece; and a controller configured to control an application of thevacuum and the pressure by the first number of suction cups and thesecond number of suction cups during movement of the frame system. 22.The method of claim 21, wherein a number of legs connect the firstnumber of suction cups to the first frame and further comprising:applying the vacuum to a first portion of the first number of suctioncups connected to a first portion of the number of legs and to a secondportion of the first number of suction cups connected to a secondportion of the number of legs; applying the pressure to the secondnumber of suction cups; and moving the first portion of the number oflegs in a first direction and the second portion of the number of legsin a second direction such that the frame system turns on a surface ofthe workpiece.
 23. The method of claim 22, wherein the step of movingthe first portion of the number of legs in the first direction and thesecond portion of the number of legs in the second direction such thatthe frame system turns on the surface of the workpiece comprises:rotating a first leg in the first portion of the number of legs in thefirst direction about a first axis; and rotating a second leg in thesecond portion of the number of legs in the second direction about thefirst axis, wherein rotation of the first leg and the second leg aboutthe first axis causes rotation of the frame system about a second axisthat is substantially perpendicular to the surface of the workpiece. 24.The method of claim 21, wherein the step of holding the first frame inthe frame system on the workpiece by applying the vacuum to the firstframe comprises: applying the vacuum to the first number of suction cupsto hold the first frame in the frame system on the workpiece; whereinthe step of detaching the second frame in the frame system from theworkpiece by applying the pressure to the second frame comprises:applying the pressure to the second number of suction cups to detach thesecond frame in the frame system from the workpiece; wherein the step ofattaching the second frame to the workpiece by applying the vacuum tothe second frame comprises: applying the vacuum to the second number ofsuction cups after movement of the second frame to attach the secondframe to the workpiece; and further comprising: applying the pressure tothe first number of suction cups after the vacuum is applied to thesecond number of suction cups; and moving the first frame relative tothe second frame while the second number of suction cups holds thesecond frame on the workpiece.
 25. The method of claim 21, wherein thelocation is a first location and further comprising: moving the crawlerassembly system towards a second location while the end effectorperforms the number of operations.
 26. A method for performingoperations on a workpiece, the method comprising: moving a crawlerassembly system from a first location to a second location in which thecrawler assembly system comprises a frame system having a first frameand a second frame in which the frame system is configured to hold anend effector that is configured to perform a number of operations; afirst number of suction cups associated with the first frame by a numberof legs in which the first number of suction cups is configured forattachment to the workpiece; a second number of suction cups associatedwith the second frame in which the second number of suction cups isconfigured for attachment to the workpiece; and a controller configuredto control an application of a vacuum and a pressure by the first numberof suction cups and the second number of suction cups during movement ofthe frame system, in which the step of moving the crawler assemblysystem from the first location to the second location comprises:applying the vacuum to the first number of suction cups and the pressureto the second number of suction cups; moving the second frame relativeto the first frame while the first number of suction cups holds thefirst frame to the workpiece; applying the vacuum to the second numberof suction cups after movement of the second frame; applying thepressure to the first number of suction cups after the vacuum is appliedto the second number of suction cups; moving the first frame relative tothe second frame while the second number of suction cups holds thesecond frame to the workpiece; repeating the steps of applying thevacuum to the first number of suction cups and the pressure to thesecond number of suction cups; moving the second frame relative to thefirst frame while the first number of suction cups holds the first frameto the workpiece; applying the vacuum to the second number of suctioncups after the movement of the second frame; applying the pressure tothe first number of suction cups after the vacuum is applied to thesecond number of suction cups; and moving the first frame relative tothe second frame while the second number of suction cups holds thesecond frame to the workpiece until the second location is reached;applying the vacuum to a first portion of the first number of suctioncups connected to a first portion of the number of legs and to a secondportion of the first number of suction cups connected to a secondportion of the number of legs; applying the pressure to the secondnumber of suction cups; rotating a first leg in the first portion of thenumber of legs in a first direction around a first axis; rotating asecond leg in the second portion of the number of legs in a seconddirection about the first axis in which rotation of the first leg andthe second leg causes rotation of the frame system about a second axisthat is substantially perpendicular to the surface of the workpiece; andperforming the number of operations at the location on the workpiece.